关键词: 小卫星, 姿态跟踪, 反步, 滑模, 容错控制, 鲁棒控制

Abstract: In order to solve the question of attitude tracking problem of a small satellite with external disturbances, input saturation and actuator failures, this paper proposes an adaptive backstepping fault-tolerant control law. The method combines backstepping and adaptive sliding mode control schemes, such that the bound of disturbances are not required. An adaptive scheme is designed to estimate the minimum of actuators’ fault and the maximum of control action produced by the actuator that is out of control, and thus the fault detection and isolation algorithm is avoided. Lyapunov stability analysis shows that the closed-loop system is proved to be asymptotically stable. The simulation results show that the method can achieve expected tracking performance, great fault-tolerant capability and robustness.

Key words: small satellite, attitude tracking, backstepping, sliding mode, fault-tolerant control, robust control